Micro XRCE-DDS Agent

Micro XRCE-DDS Agent

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Install latest/stable of Micro XRCE-DDS Agent

Ubuntu 16.04 or later?

Make sure snap support is enabled in your Desktop store.

Install using the command line

sudo snap install micro-xrce-dds-agent

Don't have snapd? Get set up for snaps.

Channel Version Published

Bridge between Micro XRCE-DDS clients and DDS

Micro XRCE-DDS Agents receive messages containing Operations from Clients. Agents keep track of the Clients and the Micro XRCE-DDS Entities they create. The Agent uses the Entities to interact with DDS Global Data Space on behalf of the Client.

The communication between a Micro XRCE-DDS Client and a Micro XRCE-DDS Agent supports three kind transport: UDP, TCP, or SerialPort. While running Micro XRCE-DDS Agent will attend any received request from your Micro XRCE-DDS Clients. Micro XRCE-DDS Agent answers back with the result of a request each time a request is attended.

The Agent supports being run by the user like this:

 $ micro-xrce-dds-agent --help

In addition, the Agent supports running as a service that can be enabled with:

 $ snap set micro-xrce-dds-agent daemon=true

If the service is enabled, by default it uses the udp4 transport on port 8888. The following parameters can be changed (these are specific to the service, the micro-xrce-dds-agent command simply takes command-line arguments, but the capabilities are the same):

  • transport. Supported transports are udp4, udp6, tcp4, tcp6, serial, and pseudoterminal. Default is udp4. Change with:

     $ snap set micro-xrce-dds-agent transport="new transport"
  • middleware. Supported kinds of middleware are ced, rtps, and dds. Default is dds. Change with:

     $ snap set micro-xrce-dds-agent middleware="new middleware"
  • verbosity. Supported verbosity levels are 0-6, defaulting to 4. Change with:

     $ snap set micro-xrce-dds-agent verbosity="selected verbosity"
  • discovery. Enable or disable the discovery server. Defaults to "false". Change with:

     $ snap set micro-xrce-dds-agent discovery="true or false"
  • discovery-port. Port on which the discovery server (see above) listens. Defaults to 7400. Change with:

     $ snap set micro-xrce-dds-agent discovery-port="selected port"
  • p2p-port. Port to use for the P2P profile. Change with:

     $ snap set micro-xrce-dds-agent p2p-port="selected port"
  • port. Port on which the agent listens. Only applicable to one of the UDP or TCP transports (see above). Defaults to 8888. Change with:

     $ snap set micro-xrce-dds-agent port="selected port"
  • baudrate. Baud rate to use when accessing serial ports. Only applicable when using the serial or pseudoterminal transport. Defaults to 115200. Change with:

     $ snap set micro-xrce-dds-agent baudrate="baud rate"
  • device. The serial device to use. Only applicable when using the serial or pseudoterminal transport. Change with:

     $ snap set micro-xrce-dds-agent device="device path"

    When using the snap with a serial device, some steps need to be taken in order to establish a successful connection:

    • Refresh your local installation of the snap core package:

       $ sudo snap refresh core --edge
    • Enable the hotplug feature and restart the snapd daemon:

       $ sudo snap set core experimental.hotplug=true
       $ sudo systemctl restart snapd
    • After plugging the microcontroller to the serial port, execute the snap interface serial-port command. You should see something like this:

         name:    serial-port
         summary: allows accessing a specific serial port
           - micro-xrce-dds-agent
         - snapd:cp2102cp2109uartbrid (allows accessing a specific serial port)
    • Connect your snap image to the desired serial port (replace accordingly):

       $ snap connect micro-xrce-dds-agent:serial-port snapd:cp2102cp2109uartbrid

    After this, you can execute your snap as usual, using micro-xrce-dds-agent serial -d <serial-dev>.

Details for Micro XRCE-DDS Agent

  • Apache-2.0

Last updated
  • 13 September 2021 - latest/stable
  • 10 July 2023 - latest/edge

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Install Micro XRCE-DDS Agent on your Linux distribution

Choose your Linux distribution to get detailed installation instructions. If yours is not shown, get more details on the installing snapd documentation.

Where people are using Micro XRCE-DDS Agent

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Ubuntu 22.04
Ubuntu 20.04
Ubuntu 18.04
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